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21615 Commits

Author SHA1 Message Date
Randy Mackay a4e3da5c4b AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec 2020-05-11 18:15:40 +10:00
Randy Mackay ca5d11fdc7 AP_OABendyRuler: integrate oadb ekf-offset change 2020-05-11 18:15:40 +10:00
Randy Mackay 5837b253da AP_Math: add vector2f::offset_bearing 2020-05-11 18:15:40 +10:00
Randy Mackay 2ece0ac15c AP_Proximity: integrate oadb ekf-offset change 2020-05-11 18:15:40 +10:00
Randy Mackay 7b1efc4755 AP_OADatabase: replace Location with offset from origin 2020-05-11 18:15:40 +10:00
Randy Mackay ce7ee81ede AP_Proximity: remove unused get_horizontal_distance 2020-05-11 18:15:40 +10:00
Randy Mackay d60deafa07 AP_Proximity: sf40c combines seven readings for oadb 2020-05-11 18:15:40 +10:00
Randy Mackay 43cd419dcf AP_Proximity: always use 8 sectors and fix ignore areas 2020-05-11 18:15:40 +10:00
Randy Mackay 6523bae938 AP_OABendyRuler: integrate static object radius 2020-05-11 18:15:40 +10:00
Randy Mackay 2431dcf09b AP_OADatabase: calculate object radius based on distance and beam width 
also all object database items are normal importance
 2020-05-11 18:15:40 +10:00
Randy Mackay 74076f6bd9 AP_Proximity: integrate oadb::queue_push argument swap 2020-05-11 18:15:40 +10:00
Randy Mackay b3bbcc6498 AP_Proximity: remove unnecessary const from database_push 
also shorten current_vehicle_bearing argument to just current_heading
 2020-05-11 18:15:40 +10:00
Randy Mackay 717cd707dc AP_OADatabase: remove unnecessary const on arguments 
also swap order of angle and distance arguments to be consistent with proximity library
 2020-05-11 18:15:40 +10:00
Kelly Schrock 5462aeae01 AP_BattMonitor: NeoDesign battery driver 
Adds a driver for the NeoDesign BMS, with variable cell count.
 2020-05-11 18:15:40 +10:00
Andrew Tridgell f4abc918a0 AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-05-11 18:15:40 +10:00
Andrew Tridgell 7c94b314c9 AP_BattMonitor: added SUI SMBUS battery backend 
originally by Kelly Schrock
 2020-05-11 18:15:40 +10:00
Randy Mackay e82e63e8f6 AP_BattMonitor: set default I2C bus for Solo and Maxell drivers 2020-05-11 18:15:40 +10:00
Randy Mackay 7154d448fd AP_BattMonitor: Maxell cell voltages timeout after 5sec 2020-05-11 18:15:40 +10:00
Randy Mackay d65a202069 AP_Scripting: example to check battery cycle count 2020-05-11 18:15:40 +10:00
Randy Mackay b8edc5702c AP_Scripting: add binding for BattMonitor's get_cycle_count method 2020-05-11 18:15:40 +10:00
murata 510688e085 AP_BattMonitor: Maxell battery on any I2C bus 2020-05-11 18:15:40 +10:00
Randy Mackay 275abc7874 AP_BattMonitor: add cycle count for smbus batteries 2020-05-11 18:15:40 +10:00
Andrew Tridgell d2bd985cd5 HAL_ChibiOS: save 3k of flash on MatekF405-Wing 
disable SMBUS and fuel battery monitors
 2020-05-11 18:15:40 +10:00
Andrew Tridgell e0116507e8 AP_BattMonitor: support selective enable of SMBUS and fuel battery monitors 2020-05-11 18:15:40 +10:00
Andrew Tridgell 0aa367d5ca AP_Terrain: added script for creating terrain *.dat files 
useful for pre-populating a microSD card
 2020-05-11 18:15:40 +10:00
Andrew Tridgell dee9e85307 AP_Terrain: fixed bug in disk offset calculation 
this fixes a problem where two different locations could both be
mapped to the same disk block in the terrain/*.DAT files. That meant
that pre-filled terrain on the microSD card would sometimes require a
download in flight. It also means that a RTL with loss of GCS could
sometimes fly through a region with no terrain data available

Other changes in this patch:

 - allow for a 2cm discrepancy in the lat/lon of the grid
   corners. This is needed to allow for slightly different floating
   point rounding in tools that pre-generate terrain data to load on
   the microSD

 - added TERRAIN_OPTIONS parameter to allow the user to disable
   attempts to download new terrain data. This is mostly useful for
   testing to validate a terrain generator
 2020-05-11 18:15:40 +10:00
Paul Riseborough c04b31d9c0 AP_NavEKF3: Don't use geomag data when user specifies declination 2020-05-11 18:15:40 +10:00
Paul Riseborough 211fdde755 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-05-11 18:15:40 +10:00
Paul Riseborough 251c1e379f AP_Compass: Add accessor function for COMPASS_AUTODEC 2020-05-11 18:15:40 +10:00
Randy Mackay 0da8f39fd6 AP_NavEKF3: getLLH fix when no GPS available 2020-05-11 18:15:40 +10:00
Randy Mackay 59adb2adda AP_NavEKF2: getLLH fix when no GPS available 2020-05-11 18:15:40 +10:00
Andrew Tridgell a41c846a8c AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-05-11 18:15:40 +10:00
murata ad35a88ea6 AP_Baro: Fix timestamp wrapping 2020-05-11 18:15:40 +10:00
Andrew Tridgell d0d8bb3cbd AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-05-11 18:15:40 +10:00
Andrew Tridgell 661d740354 AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-05-11 18:15:40 +10:00
Andrew Tridgell 4f7450dde9 AP_NavEKF3: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-05-11 18:15:40 +10:00
Andrew Tridgell 234ae5bc93 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-05-11 18:15:40 +10:00
bugobliterator 2d5b1eda7c AP_Scripting: remove unused user of realloc from lua 2020-05-11 18:15:40 +10:00
bugobliterator cec3da0df1 HAL_ChibiOS: deprecate realloc for ChibiOS build, so as to return error when used 2020-05-11 18:15:40 +10:00
bugobliterator decff33d6b AP_HAL: ensure libc realloc is available for all platforms except ChibiOS 2020-05-11 18:15:40 +10:00
bugobliterator 1c7d34ba5c AP_HAL_ChibiOS: implement standard realloc method 2020-05-11 18:15:40 +10:00
bugobliterator faeb9c063f AP_HAL: implement standard realloc method 2020-05-11 18:15:40 +10:00
bugobliterator 2ce899c54f AP_Common: use standard realloc method from HAL 2020-05-11 18:15:39 +10:00
Andrew Tridgell b1c80d7d74 GCS_MAVLink: send only old value for readonly param set 
this prevents a condition where the GCS can display the wrong value if
the 2nd PARAM_VALUE is lost

Note that groundstations can tell the set failed due to readonly in
the following ways:

 1) look for the statustext: Param write denied (PARAMNAME)

 2) see that the value came back with the old value, with index of
   65535

 3) can repeat the send, looking for (1) and (2)

Michael has proposed we add a PARAM_VALUE mavlink2 flags
extension. That would be nice, but we should still make this change to
fix the issue with mavlink 1.0
 2020-05-11 18:15:39 +10:00
Peter Hall 18cab7a414 AP_Motors: MotorsMulticopter fix floating boost output 2020-05-11 18:15:39 +10:00
Peter Barker 83ca008f4e GCS_MAVLink: divide time allowed to send messages fairly 2020-05-11 18:15:39 +10:00
Randy Mackay 9cce3945cb AP_LandingGear: add OPTIONS param to auto deploy and retract 2020-05-11 18:15:39 +10:00
Bill Geyer 96705dca69 AC_AttitudeControlHeli: update filter parameter desc mins 2020-05-11 18:15:39 +10:00
Randy Mackay 02758b851f AC_AttitudeControl: update param ranges 2020-05-11 18:15:39 +10:00
Randy Mackay 42103e555a AP_Mount: ignore rc trim when calculating desired mount angles 2020-05-11 18:15:39 +10:00
Randy Mackay 41a8a1b344 RC_Channel: formatting fixes 2020-05-11 18:15:39 +10:00
Randy Mackay 60238ec040 RC_Channel: add norm_input_ignore_trim 
same as norm_input but ignores the trim value
 2020-05-11 18:15:39 +10:00
bnsgeyer 7750c5573e AC_WPNAV:make speed changes during missions obey WPNAV_ACCEL 
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
          Changed at Leonard's request to keep things simpler
 2020-05-11 18:15:39 +10:00
Randy Mackay a1a27d8613 AC_PosControl: allow smaller changes in max speed and accel 
also small changes in max speed for z-axis
 2020-05-11 18:15:39 +10:00
Andrew Tridgell 7e3d7e4484 HAL_ChibiOS: use default USB IDs for fmuv3 2020-05-11 18:15:39 +10:00
Andrew Tridgell d4c6f462bf AP_NavEKF3: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-05-11 18:15:39 +10:00
Andrew Tridgell 2603b15354 AP_NavEKF2: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-05-11 18:15:39 +10:00
Matt Lawrence 87cd048a91 AP_Camera: Make trigger type enum class 2020-05-11 18:15:39 +10:00
Matt Lawrence 994c64d23c RC_Channel: Add GoPro mode toggle Aux switch 2020-05-11 18:15:39 +10:00
Matt Lawrence 9209b5f8dc GCS_Mavlink: Add routing for GoPro heartbeat 2020-05-11 18:15:39 +10:00
Matt Lawrence 5f84dabeea AP_Camera: Add handling of GoPro mavlink commands 2020-05-11 18:15:39 +10:00
Matt Lawrence 5837217c32 AP_HAL_ChibiOS: Fix waf --default-parameters 
If a defaults.parm file was present in the hwdef, waf ignored the --default-parameters=xyz.parm command line argument.  This will allow it to use that command line argument specified file.
 2020-05-11 18:15:39 +10:00
ashvath 5a78cd44bd Copter: function for mot_pwm checks 2020-05-11 18:15:39 +10:00
Andrew Tridgell 6e1bdb3fd8 AP_GPS: fixed yaw error when one GPS has zero position 
the M_PI correction was only valid for one zero side. Much simpler to
always calculate difference
 2020-05-11 18:15:39 +10:00
Andrew Tridgell 2f425a5c45 HAL_SITL: added betaflight-x-rev frame type 2020-05-11 18:15:39 +10:00
Andrew Tridgell 2d16041f02 SITL: added betaflight-rev-x frame 2020-05-11 18:15:39 +10:00
Andrew Tridgell e9e54dd813 AP_Motors: added betaflight-x-reversed frame type 2020-05-11 18:15:39 +10:00
Andrew Tridgell 22d115bb26 SRV_Channel: change function to AP_Int16 
this also removes the old parameter conversion code used for when we
first added the SERVO parameters. This was needed for conversion from
Copter 3.4 and Plane 3.7
 2020-05-11 18:15:39 +10:00
Andrew Tridgell 9542094d90 AP_Param: added convert_parameter_width() 
this allows for easy conversion of the width of a parameter without
changing indexes
 2020-05-11 18:15:39 +10:00
Peter Hall 4c0ee0b81e SRV_Channel: add missing ProfiLED description values 2020-05-11 18:15:39 +10:00
Peter Hall a4d21eead7 AP_Scripting: Add led matrix examples 2020-05-11 18:15:39 +10:00
Peter Hall a3b3cc99cc AP_Scripting: update LED_roll example 2020-05-11 18:15:39 +10:00
Peter Hall 5d32ba6931 AP_HAL_SITL: update function names 2020-05-11 18:15:39 +10:00
Peter Hall 07dc4096fa AP_HAL_ChibiOS: add support for ProfiLEDs 2020-05-11 18:15:39 +10:00
Peter Hall 53ec370103 AP_HAL: support ProfiLEDs 2020-05-11 18:15:39 +10:00
Peter Hall 28c641c90d AP_Notify: support ProfiLEDs 2020-05-11 18:15:39 +10:00
Peter Hall 3b907b9baa AP_Scripting: regenerate bindings 2020-05-11 18:15:39 +10:00
Peter Hall 6704059834 AP_Scripting: support ProfiLEDs 2020-05-11 18:15:39 +10:00
Peter Hall a092bc6867 AP_SerialLED: support ProfiLEDs 2020-05-11 18:15:39 +10:00
Peter Hall 261eb043db SRV_Channel: add ProfiLED ouputs 2020-05-11 18:15:39 +10:00
Andrew Tridgell dd65afd282 AP_SerialLED: added define for LED limit 2020-05-11 18:15:39 +10:00
Andrew Tridgell ba4c094d07 HAL_ChibiOS: reserve plenty of DMA memory for luminousbee4 2020-05-11 18:15:39 +10:00
Andrew Tridgell 604e98b3e9 AP_SerialLED: allow more than 32 LEDs 2020-05-11 18:15:39 +10:00
Andrew Tridgell d6b9a4b389 AP_Scripting: adjust for updated LED API 2020-05-11 18:15:39 +10:00
Andrew Tridgell 65c172bbb6 AP_Notify: allow up to 64 LEDs on a pin 2020-05-11 18:15:39 +10:00
Andrew Tridgell bde8a6e11b HAL_SITL: allow more than 32 LEDs on a pin 2020-05-11 18:15:39 +10:00
Andrew Tridgell 533420674f HAL_ChibiOS: allow more than 32 WS2812 LEDs on a pin 2020-05-11 18:15:39 +10:00
Andrew Tridgell 8e380dd330 AP_HAL: adjust LED API to allow more than 32 LEDs on a pin 2020-05-11 18:15:39 +10:00
Andrew Tridgell 86bee3cc4e HAL_ChibiOS: added luminousbee4 flight controller 2020-05-11 18:15:39 +10:00
Peter Barker dc785b61a9 AP_HAL_ChibiOS: make a static-const hal a reference to the external symbol 2020-05-11 18:15:39 +10:00
Peter Hall 936cc1b1d3 AP_Scripting: regenerate bindings 2020-04-04 09:59:06 +11:00
Peter Hall 16d01f03fa AP_Scripting: correct generator bug 2020-04-04 09:59:06 +11:00
Andrew Tridgell e1ab70a730 AP_SpdHgtControl: added reset() 2020-02-23 08:00:31 +11:00
Andrew Tridgell 04b307aafc AP_TECS: added reset() method 
used at end of VTOL takeoff
 2020-02-23 07:49:57 +11:00
Andrew Tridgell 81cd2b9d97 HAL_ChibiOS: switched to new USB VID for dual-CDC boards 2020-02-23 07:43:01 +11:00
Andrew Tridgell 53b5564466 HAL_ChibiOS: produce more accurate clocks for DShot and PWM 2020-02-23 07:42:09 +11:00
Andrew Tridgell 54a41cf8ab HAL_ChibiOS: raised timer clocks to 200MHz 
this gives more flexibility in setting up timers for DShot
 2020-02-23 07:42:02 +11:00
Andrew Tridgell e0b849594d GCS_MAVLink: don't send statustext from other than main thread 
This fixes high stack usage in the RCIN thread when it notifies the
GCS of a new RCIN protocol. The problem is severe when signing is
enabled, as signing adds over 500 bytes to stack cost of sending a
mavlink msg

fixes issue #13615
 2020-02-23 07:41:59 +11:00
Randy Mackay fd57c8af96 AP_ServoRelayEvents: do-set-servo affects sprayer and gripper 2020-02-23 07:41:55 +11:00
bnsgeyer 80792ad19f AP_Motors: tradheli - fix quad heli collective structure 2020-02-23 07:41:52 +11:00